version: 66.06
glider: 503
mission: 5
dive: 240
start: 5 7 110 9 44 7
data:
$ID,503
$MISSION,5
$DIVE,240
$D_SURF,3
$D_FLARE,3
$D_TGT,991
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,420
$T_MISSION,480
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52098
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3647.3999
$TGT_DEFAULT_LON,-12151.5
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,12
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-14921.041
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,203
$PITCH_MAX,3889
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,37
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,445
$VBD_MAX,3956
$C_VBD,2792
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-51.589809
$PRESSURE_SLOPE,0.00011732637
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,500
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,4
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043281103
$SEABIRD_T_H,0.00062152545
$SEABIRD_T_I,2.1491383e-05
$SEABIRD_T_J,2.0368557e-06
$SEABIRD_C_G,-10.162479
$SEABIRD_C_H,1.1594115
$SEABIRD_C_I,4.3937558e-05
$SEABIRD_C_J,0.00011023274
$GPS1,093607,3645.382,-12211.238,37,1.5,37,14.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-70.2
$GPS2,094401,3645.342,-12211.213,12,1.4,29,14.8
$SPEED_LIMITS,0.136,0.217
$TGT_NAME,ONE
$TGT_LATLONG,3644.000,-12205.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,90.3,9550,-15.7,-7.865
$D_GRID,683
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.57,-116.8,0.0,0.0,0,62,0.00,0.00,-48.38,0.000,2,0.000,0.000,170,1745,2817,0,0,0,0,0,0
$GC,64,-0.57,-116.8,3.2,-6.2,9,91,8.75,2.17,-10.98,0.000,4,0.207,0.053,2509,399,3270,0,0,0,0,0,0
$GC,325,-0.51,-116.8,37.9,-11.8,58,332,0.08,2.15,0.00,0.000,6,0.199,0.025,2528,1801,3271,0,0,0,0,0,0
$GC,652,-0.51,-116.8,68.1,-8.4,119,658,0.00,2.22,0.00,0.000,4,0.000,0.038,2529,395,3272,0,0,0,0,0,0
$GC,700,-0.51,-116.8,72.4,-8.9,128,706,0.00,2.15,0.00,0.000,6,0.000,0.025,2521,1805,3272,0,0,0,0,0,0
$GC,1026,-0.51,-116.8,104.3,-9.0,189,1033,0.00,2.17,0.00,0.000,4,0.000,0.031,2518,3205,3272,0,0,0,0,0,0
$GC,1076,-0.57,-116.8,108.2,-7.8,198,1082,0.00,2.17,0.00,0.000,6,0.000,0.025,2518,1798,3272,0,0,0,0,0,0
$GC,1402,-0.57,-116.8,135.5,-8.6,259,1408,0.00,2.20,0.00,0.000,4,0.000,0.039,2518,402,3272,0,0,0,0,0,0
$GC,1520,-0.57,-116.8,147.1,-9.7,281,1526,0.00,2.12,0.00,0.000,6,0.000,0.024,2509,1808,3272,0,0,0,0,0,0
$GC,1846,-0.57,-116.8,179.4,-10.3,342,1852,0.00,2.20,0.00,0.000,4,0.000,0.038,2509,407,3272,0,0,0,0,0,0
$GC,1916,-0.57,-116.8,187.1,-11.0,355,1922,0.00,2.10,0.00,0.000,6,0.000,0.025,2499,1801,3272,0,0,0,0,0,0
$GC,2235,-0.57,-116.8,219.9,-10.0,397,2238,0.00,2.15,0.00,0.000,4,0.000,0.038,2499,398,3272,0,0,0,0,0,0
$GC,2299,-0.57,-116.8,226.7,-10.4,403,2302,0.00,2.12,0.00,0.000,6,0.000,0.025,2495,1805,3272,0,0,0,0,0,0
$GC,2619,-0.57,-116.8,258.1,-9.0,434,2623,0.00,2.20,0.00,0.000,4,0.000,0.038,2495,401,3272,0,0,0,0,0,0
$GC,2673,-0.52,-116.8,263.4,-10.3,439,2677,0.12,2.10,0.00,0.000,6,0.104,0.024,2533,1793,3272,0,0,0,0,0,0
$GC,2993,-0.58,-116.8,283.6,-6.7,470,2997,0.00,2.17,0.00,0.000,4,0.000,0.038,2533,402,3272,0,0,0,0,0,0
$GC,3041,-0.63,-116.8,287.2,-7.4,474,3048,0.08,2.10,0.00,0.000,6,0.051,0.024,2467,1803,3272,0,0,0,0,0,0
$GC,3357,-0.56,-116.8,321.3,-10.8,505,3361,0.17,2.20,0.00,0.000,4,0.125,0.038,2526,400,3271,0,0,0,0,0,0
$GC,3393,-0.56,-116.8,324.8,-8.7,508,3400,0.00,2.10,0.00,0.000,6,0.000,0.023,2522,1794,3271,0,0,0,0,0,0
$GC,3709,-0.56,-116.8,349.5,-7.8,539,3713,0.00,2.17,0.00,0.000,4,0.000,0.038,2521,404,3272,0,0,0,0,0,0
$GC,3756,-0.56,-116.8,353.6,-8.6,543,3764,0.00,2.10,0.00,0.000,6,0.000,0.023,2512,1798,3271,0,0,0,0,0,0
$GC,4072,-0.56,-116.8,382.7,-9.7,574,4077,0.00,2.17,0.00,0.000,4,0.000,0.038,2512,406,3271,0,0,0,0,0,0
$GC,4105,-0.56,-116.8,386.1,-10.8,577,4108,0.00,2.10,0.00,0.000,6,0.000,0.025,2508,1821,3271,0,0,0,0,0,0
$GC,4424,-0.56,-116.8,420.3,-10.9,608,4425,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,1822,3271,0,0,0,0,0,0
$GC,4735,-0.56,-116.8,453.1,-10.5,638,4740,0.00,2.22,0.00,0.000,4,0.000,0.038,2508,404,3270,0,0,0,0,0,0
$GC,4832,-0.56,-116.8,463.7,-10.9,647,4835,0.00,2.08,0.00,0.000,6,0.000,0.024,2505,1802,3270,0,0,0,0,0,0
$GC,5151,-0.56,-116.8,492.5,-8.2,678,5156,0.00,2.20,0.00,0.000,4,0.000,0.038,2505,400,3269,0,0,0,0,0,0
$GC,5233,-0.56,-116.8,500.1,-9.3,685,5238,0.00,2.10,0.00,0.000,6,0.000,0.024,2495,1820,3269,0,0,0,0,0,0
$GC,5542,-0.56,-116.8,525.6,-8.0,701,5546,0.00,2.22,0.00,0.000,4,0.000,0.038,2496,401,3269,0,0,0,0,0,0
$GC,5605,-0.56,-116.8,530.9,-8.1,704,5610,0.00,2.10,0.00,0.000,6,0.000,0.024,2491,1798,3269,0,0,0,0,0,0
$GC,5932,-0.56,-116.8,557.2,-9.1,720,5936,0.00,2.17,0.00,0.000,4,0.000,0.038,2491,408,3269,0,0,0,0,0,0
$GC,5990,-0.56,-116.8,563.2,-10.4,722,5998,0.08,2.10,0.00,0.000,6,0.114,0.024,2515,1800,3268,0,0,0,0,0,0
$GC,6301,-0.61,-116.8,585.8,-7.0,738,6305,0.00,2.20,0.00,0.000,4,0.000,0.040,2515,397,3268,0,0,0,0,0,0
$GC,6327,-0.61,-116.8,587.8,-7.9,739,6331,0.00,2.10,0.00,0.000,6,0.000,0.025,2509,1789,3268,0,0,0,0,0,0
$GC,6649,-0.61,-116.8,609.6,-6.5,755,6652,0.00,2.17,0.00,0.000,4,0.000,0.039,2509,404,3268,0,0,0,0,0,0
$GC,6685,-0.61,-116.8,612.2,-7.6,756,6692,0.00,2.10,0.00,0.000,6,0.000,0.025,2505,1797,3268,0,0,0,0,0,0
$GC,6995,-0.61,-116.8,633.4,-6.9,772,6996,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1797,3268,0,0,0,0,0,0
$GC,7303,-0.61,-116.8,650.7,-4.8,787,7306,0.00,2.17,0.00,0.000,4,0.000,0.040,2505,400,3267,0,0,0,0,0,0
$GC,7366,-0.61,-116.8,655.1,-7.2,790,7369,0.00,2.10,0.00,0.000,6,0.000,0.025,2496,1794,3268,0,0,0,0,0,0
$GC,7686,-0.61,-116.8,677.3,-7.6,806,7690,0.00,2.15,0.00,0.000,4,0.000,0.032,2495,3194,3267,0,0,0,0,0,0
$GC,7723,-0.68,-116.8,680.0,-8.1,807,7729,0.00,2.15,0.00,0.000,6,0.000,0.025,2495,1792,3267,0,0,0,0,0,0
$STATE,7767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7767,begin apogee
$GC,7771,-0.14,0.0,683.2,7.0,810,7871,0.45,0.00,93.70,1.003,6,0.091,0.000,2655,1792,2791,0,0,0,0,0,0
$STATE,7871,end apogee,CONTROL_FINISHED_OK
$STATE,7871,begin climb
$GC,7873,0.57,116.8,682.4,0.0,815,7979,0.60,2.42,99.53,0.972,4,0.051,0.040,2905,353,2315,0,0,0,0,0,0
$GC,8128,0.44,116.8,670.2,9.5,827,8132,0.17,2.17,0.00,0.000,6,0.117,0.024,2847,1743,2309,0,0,0,0,0,0
$GC,8445,0.52,183.1,652.6,4.9,843,8505,0.00,2.28,55.12,0.961,4,0.000,0.031,2847,3155,2045,0,0,0,0,0,0
$GC,8584,0.55,201.2,643.8,7.0,849,8605,0.00,2.25,16.98,0.907,6,0.000,0.026,2857,1755,1971,0,0,0,0,0,0
$GC,8911,0.55,201.2,617.6,8.8,865,8914,0.00,2.17,0.00,0.000,4,0.000,0.030,2857,3150,1970,0,0,0,0,0,0
$GC,8941,0.55,201.2,614.6,9.6,866,8948,0.00,2.20,0.00,0.000,6,0.000,0.027,2867,1757,1969,0,0,0,0,0,0
$GC,9252,0.55,205.0,591.4,7.7,882,9258,0.00,0.00,4.35,0.673,6,0.000,0.000,2867,1757,1955,0,0,0,0,0,0
$GC,9558,0.58,229.2,569.8,6.8,897,9582,0.00,2.20,20.98,0.913,4,0.000,0.029,2867,3150,1857,0,0,0,0,0,0
$GC,9608,0.60,241.3,566.1,7.3,899,9624,0.00,2.22,11.52,0.851,6,0.000,0.027,2877,1748,1808,0,0,0,0,0,0
$GC,9935,0.60,241.3,539.4,9.2,916,9939,0.00,2.20,0.00,0.000,4,0.000,0.030,2877,3145,1808,0,0,0,0,0,0
$GC,9966,0.60,241.3,536.4,9.8,917,9970,0.00,2.20,0.00,0.000,6,0.000,0.027,2887,1750,1808,0,0,0,0,0,0
$GC,10283,0.60,241.3,506.2,9.6,933,10286,0.00,2.20,0.00,0.000,4,0.000,0.042,2898,348,1808,0,0,0,0,0,0
$GC,10308,0.60,241.3,503.5,10.4,934,10312,0.00,2.12,0.00,0.000,6,0.000,0.025,2898,1744,1808,0,0,0,0,0,0
$GC,10624,0.60,241.3,471.5,9.7,963,10628,0.00,2.17,0.00,0.000,4,0.000,0.031,2898,3145,1807,0,0,0,0,0,0
$GC,10689,0.60,241.3,464.7,10.8,969,10692,0.00,2.15,0.00,0.000,6,0.000,0.028,2909,1750,1808,0,0,0,0,0,0
$GC,11004,0.56,241.3,429.0,11.4,999,11007,0.00,2.22,0.00,0.000,4,0.000,0.042,2921,342,1808,0,0,0,0,0,0
$GC,11026,0.51,241.3,426.5,12.1,1001,11029,0.17,2.12,0.00,0.000,6,0.123,0.025,2864,1761,1808,0,0,0,0,0,0
$GC,11340,0.56,241.3,398.2,8.5,1031,11344,0.00,2.12,0.00,0.000,4,0.000,0.031,2864,3139,1807,0,0,0,0,0,0
$GC,11377,0.60,241.3,394.8,9.3,1034,11384,0.00,2.15,0.00,0.000,6,0.000,0.028,2873,1757,1807,0,0,0,0,0,0
$GC,11693,0.60,241.3,368.2,8.3,1065,11693,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1756,1807,0,0,0,0,0,0
$GC,12005,0.60,241.3,342.7,8.0,1095,12008,0.00,2.15,0.00,0.000,4,0.000,0.031,2873,3155,1808,0,0,0,0,0,0
$GC,12031,0.60,241.3,340.3,7.9,1097,12034,0.00,2.17,0.00,0.000,6,0.000,0.028,2884,1740,1807,0,0,0,0,0,0
$GC,12350,0.60,241.3,311.5,9.2,1128,12355,0.00,2.17,0.00,0.000,4,0.000,0.030,2884,3145,1807,0,0,0,0,0,0
$GC,12404,0.60,241.3,306.3,10.1,1133,12408,0.00,2.17,0.00,0.000,6,0.000,0.028,2894,1745,1807,0,0,0,0,0,0
$GC,12724,0.60,241.3,271.7,11.5,1164,12729,0.00,2.20,0.00,0.000,4,0.000,0.041,2905,344,1807,0,0,0,0,0,0
$GC,12740,0.60,241.3,269.7,12.2,1165,12747,0.00,2.10,0.00,0.000,6,0.000,0.024,2905,1741,1807,0,0,0,0,0,0
$GC,13056,0.60,241.3,230.4,11.7,1196,13060,0.00,2.17,0.00,0.000,4,0.000,0.031,2905,3154,1807,0,0,0,0,0,0
$GC,13119,0.60,241.3,222.6,11.8,1202,13124,0.00,2.17,0.00,0.000,6,0.000,0.028,2916,1752,1807,0,0,0,0,0,0
$GC,13440,0.60,241.3,185.7,10.8,1244,13446,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1752,1807,0,0,0,0,0,0
$GC,13767,0.63,266.8,162.1,6.7,1305,13793,0.00,0.00,20.92,0.677,6,0.000,0.000,2916,1752,1704,0,0,0,0,0,0
$GC,14114,0.72,266.8,135.9,8.6,1370,14119,0.00,2.22,0.00,0.000,4,0.000,0.041,2927,345,1706,0,0,0,0,0,0
$GC,14140,0.76,266.8,133.5,9.2,1375,14146,0.00,2.12,0.00,0.000,6,0.000,0.025,2927,1749,1706,0,0,0,0,0,0
$GC,14466,0.76,266.8,97.6,12.3,1436,14472,0.00,2.22,0.00,0.000,4,0.000,0.041,2939,345,1706,0,0,0,0,0,0
$GC,14525,0.76,266.8,90.5,12.2,1447,14532,0.00,2.10,0.00,0.000,6,0.000,0.024,2939,1738,1706,0,0,0,0,0,0
$GC,14852,0.76,266.8,51.2,9.9,1508,14858,0.00,2.17,0.00,0.000,4,0.000,0.030,2939,3147,1706,0,0,0,0,0,0
$GC,14884,0.76,266.8,47.6,11.0,1514,14890,0.00,2.17,0.00,0.000,6,0.000,0.028,2949,1747,1706,0,0,0,0,0,0
$GC,15211,0.72,266.8,13.1,11.2,1575,15216,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,1747,1706,0,0,0,0,0,0
$STATE,15299,end climb,SURFACE_DEPTH_REACHED
$STATE,15299,begin surface coast
$FINISH,0.2,1.011810
$STATE,15326,end surface coast,CONTROL_FINISHED_OK
$STATE,15327,begin surface
$SM_CCo,15400,0.00,0.000,0,0,1705,266.64
$SM_GC,1.20,7.05,0.00,0.00,0.036,0.000,0.000,179,1746,1705,-7.77,-1.53,266.64
$IRIDIUM_FIX,3632.29,-12209.72,010899,050543
$TT8_MAMPS,0.051389
$HUMID,55.27
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,15.50
$XPDR_PINGS,127
$24V_AH,23.6,33.054
$10V_AH,9.7,52.283
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,17.725,151.675,323.100,0.000,0.000,25.234,36.836,262.382,32.750,0.000,31.688,0.000,10533.003,462.264,4220.203,620.174,0.000,1818.220,0.000,3635.161,0.000,8.188,0.000
$DEVICE_MAMPS,207.090,52.923,1003.236,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1108.583,3380.909,2478.365,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,287288
$DATA_FILE_SIZE,110691,1597
$CAP_FILE_SIZE,175664,0
$CFSIZE,260165632,230166528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070510,140136,3644.855,-12209.711,30,1.1,30,14.8